Position Control of DC Servo Motors Using Soft-Core Processor on FPGA to Move Robot ARM

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Provided by: Journal of Theoretical and Applied Information Technology
Topic: Data Centers
Format: PDF
A new method of controlling position of DC Servo motor using PicoBlaze soft-core processor on Field Programmable Gate Array (FPGA) is adopted. The soft processor is used to generate the PWM required to create motor motion and direction. The soft processor hardware system is build using VHDL, while the processor is programmed using assembly language. The type of control board used is XILINX FPGA SPARTAN-3E (XC3S500E). The system performance is debugged using chip-scope technique and oscilloscope. The real time operation performance is done with five DC servo motors that are joined for testing motion of the robot arm.
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